CN108920743A - A kind of target Damage calculation method based on fried space of points position - Google Patents
A kind of target Damage calculation method based on fried space of points position Download PDFInfo
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Abstract
The present invention provides a kind of target Damage calculation method based on fried space of points position comprising；Obtain the planar position coordinates and spatial three-dimensional position coordinate of shell burst image；Coordinate system is established, determines the deflection and pitch angle of the missile target encounter based on shell burst position；The deflection and pitch angle for obtaining missile target encounter are obtained by changing miss distance and missed azimuth with the multiple missile target encounter postures for following time changing in the expression formula of each coordinate system；Obtain the missile target encounter space time correlation model based on shell burst spatial position；It obtains Fragment Field and probability is injured to target.The present invention is based on the positions of the fried point in space, provide the target Damage calculation method of the space bombing site of comparison image, provide scientific basis for the calculating of novel target Damage.
Description
Technical field
The present invention relates to technical field of photoelectricity test more particularly to a kind of target Damage calculating based on fried space of points position
Method.
Background technique
Projectile Fuze is current enemy and we's strategy and the standby important link of attacking and defending war to the research of bullet target Damage, due to bullet
The relative tertiary location that the fried point and target of ball influence fuse cross has close association, i.e. bullet proximity action efficiency depends on bullet
Ball and the relative space position of target between the two, detonation, which is likely to generate, in effective spatial dimension injures effect to target
Can, and Projectile Fuze effect is to obtain target reflected energy by its internal mechanism and start guiding detonating controlling mechanism to complete, phase
It may be constructed the relationship that confrontation is injured to target is smashed, therefore, the closely fried damage effects to target of bullet may map to bullet
Game is fought between the two with target Damage and is associated with system in ball proximity action position.In order to which further master goal injures assessment
Technological means, with greater need for close concern fuze bursting point location parameter and to the efficiency of target Damage, and the location parameter of fried point
Conclusive effect has been injured to target.Since the distribution of fried point is random, high speed, and there is uncertainty, makes
It obtains existing test method and calculation method is unable to satisfy the fried point of current Projectile Fuze to the objective evaluation of target Damage efficiency.
Summary of the invention
The present invention provides a kind of target Damage calculation method based on fried space of points position, deposits in the prior art to solve
The technical issues of.
One aspect of the present invention provides a kind of target Damage calculation method based on fried space of points position comprising following step
Suddenly：
Step 1, the planar position coordinates of shell burst image are obtained；
Step 2, the spatial three-dimensional position coordinate of shell burst image is obtained；
Step 3, earth axes, missile coordinate system, target-based coordinate system, body and target relative velocity coordinate system are established,
Determine the deflection and pitch angle of the missile target encounter based on shell burst position；
Step 4, using transition matrix, obtain missile target encounter deflection and pitch angle each coordinate system expression formula,
By changing miss distance and missed azimuth, obtain with the multiple missile target encounter postures for following time changing；
Step 5, the posture of posture and the final moment target of missile target encounter based on the fried point of missile target encounter initial time, obtains
Missile target encounter space time correlation model based on shell burst spatial position；
Step 6, Fragment Field is obtained in conjunction with the kinematic parameter of fried rear Fragment Field according to the space position parameter of shell burst
Probability is injured to target.
Preferably, in the step 3, earth axes are used to determine the various trajectories ginseng of warhead i.e. bullet and target
Number, earth axes specifically use OXGYGZGIt indicates, origin is located at warhead launch point, OXGAxis with warhead emit when
Target flight horizontal course equality simultaneously takes its opposite direction to be positive, OYGAxis vertically upward, OZGAxis and OXG,OYGAxis constitutes the right hand and sits
Mark system；Target-based coordinate system OXtYtZtOrigin be located at the geometric center of target, OXtAxis is before target vertical axis, OYtAxis is in mesh
It marks in symmetrical plane, is positive upwards, OZtAxis constitutes right-handed coordinate system；Missile coordinate system OXmYmZmOrigin be located in warhead
The heart, OXmAxis is positive before bullet vertical axis, OYmAxis takes in symmetrical plane, is positive upwards, OZmAxis constitutes right-handed coordinate system；Phase
To velocity coordinate system OXrYrZrFor describing the miss distance and missed azimuth of bullet relative target, fuze actuation parameter and warhead
Dynamic wounding parameter, wherein coordinate origin takes the heart in the target, OXrThe relative velocity vector v of axis and bullet and targetrIn parallel,
With vrPositive direction be positive, OYrAxis takes in vertical plane, OZrAxis takes in the horizontal plane；Wherein, bullet of the bullet relative to target
The deflection that mesh crossesIt is target longitudinal axis OXtWith bullet mesh relative velocity VrThe angle of opposite direction, wherein whenShi is represented
Frontal attack, bullet head-on meet with target；WhenEpoch table beam attack；WhenWhen, bullet trails target
It pursues and attacks；For pitching angle theta, bullet is represented as pitching angle theta > 0 relative to attacking from the bottom up, represents bullet as θ < 0
Ball relative to attacking from top to bottom.
Preferably, the step 4 specifically includes following steps：
A. M is setX[γ] indicates to rotate the angle γ, M around X-axisY[δ] indicates to rotate the angle δ, M around Y-axisZ[χ] expression rotates χ about the z axis
Angle can convert body or any attitude of target then by transition matrix under four above-mentioned coordinate systems；
B. it defines bullet relative flight velocity vector and relative dynamic injures plane determined by axis, referred to as this time plays mesh and hand over
Can during ammunition injure plane, provide normal vector of the face of injuring in earth axes, missile target encounter attitude angle can be obtained and existed
It is expressed as in earth axes
Wherein emt(xg), emt(yg) and emt(zg) it is missile target encounter deflection in three change in coordinate axis direction of earth axes point
The unit vector of amount；In earth axes, nd(xg), nd(yg) and nd(zg) be Fragment Field act on target injure face normal direction
Amount；
Bullet line of sight unit vector in missile coordinate system is transformed into relative velocity coordinate system, is handed over so as to which mesh must be played
Meeting attitude angle is expressed as in relative velocity coordinate system
In relative velocity coordinate system, emt(yr) and emt(zr) it is missile target encounter deflection at relative velocity coordinate system three
The unit vector of change in coordinate axis direction component；nd(yr) and nd(zr) be Fragment Field act on target injure face normal vector；
C. (x is setm,ym,zm) it is space coordinate of the bullet in earth axes, (xt,yt,zt) it is target in ground coordinate
Space coordinate in system obtains and passes through arbitrary target points (xt,yt,zt) and linear equation along relative velocity vector direction, and ask
Miss distance ρ is out：
By arbitrary target points (xt,yt,zt) and relative velocity vector can determine straight line equation, s={ m, n, p }
For the direction vector of straight line；
It is available a plurality of by changing miss distance and missed azimuth angle when given miss distance and missed azimuth angle
It is parallel with initial trajectory, but the parallel trajectory with different miss distances and missed azimuth.
Preferably, the step 5 includes the following steps：
A. t is enabled0=0 initial time as missile target encounter process, the at this time position of bullet and target in earth axes
It sets respectivelyWith
b.θmWithFor t1Attitude angle possessed by moment, that is, warhead activation moment body, projectile flight speed vm?
Component in earth axes is：
Wherein vmx, vmyAnd vmzFor component of the projectile flight speed in earth axes；
C. in t1To t2Period in, target continue with vtIt moves, then t2Coordinate (the x that moment Fragment Group is hit targetd
(t2),yd(t2),zd(t2)) be：
D. the missile target encounter space time correlation model based on space bombing site is provided：
Mx[γm1] it is to rotate γ about x-axism1The transformation matrix at angle,To be rotated about y-axisAngular transformation square
Battle array, Mz[θm1] it is to rotate θ about z-axism1Angle is transformation matrix；vdsFor t2The speed of moment Fragment Group；
Wherein, the model describes the motion conditions of body, Fragment Group and target in earth axes, including plays mesh and hand over
The body of meeting initial time and target position, body and target flight velocity magnitude and direction injure the quiet explosion velocity degree of member and disperse
Direction, detonation moment body attitude.
Preferably, the step 6 comprises the following steps：
A. for bullet in instant of detonation, fragment obtains higher initial velocity, and hits target at an angle, by dynamic
Target can be caused to injure, the statement of space Fragment Field can be averaged angle of dispersion Φ with fragmentation to describe, Φ=(Φ1+Φ2)/2。
Wherein, fragment is evenly distributed on Φ1And Φ2In the conical ring surrounded, dynamically disperse angle, φvrIt is expressed as：
It is quiet it is quick-fried under the conditions of, ΦrFor fragment emission angle, vf0For Initial Velocities of Fragments degree；It moves under quick-fried state, ΦvrDynamically to disperse
Angle, the Fragment Field initial velocity of generationFragmentation dynamic is dispersed speed vf1；
Under dynamic condition, the probability distributing density function f (Φ of the r pieces fragmentationvr) be：
Wherein, under dynamic condition, the root-mean-square deviation and mathematic expectaion of Fragment Field angle of dispersion are respectively σvrWith
B. the bombing site coordinate (x due to being obtained according to multisensor measuring technologyb,yb,zb), if one group of obedience is equal
Even distribution Discrete Stochastic number is (ξ1,ξ2), R is to fry the distance between point and target, then coordinate (the x that disperses of i-th piece of fragmenti,yi,
zi) can be determined by following formula：
According to fragmentation dynamic probability distribution density function f (Φ abovevr) and bulletfragment dynamic angle of dispersion Φvr, then make
Used in the distribution density ρ (Φ of the single Triangular patch of targetvr) be：
Wherein, (xi,yi) it is the fragmentation initial coordinate based on shell burst spatial position, (x0,y0) it is fragmentation in target
Position coordinate on a some Triangular patch of rapid wear bay section；
C. according to target vulnerability bay section, β is definediFor target rapid wear coefficient, single Triangular patch bulletfragment is to mesh
Mark the damage area S of face element contributiond, the area of i-th of rapid wear bay section is Si, the small face element of target is Sk, fragmentation is characterized with Q
Probability is injured to target,The angle of entry of target Triangular patch is fallen on for fragmentation, then calculation formula is as follows：
Preferably, it is crossed measuring technology in the step 1 using multisensor.
Preferably, it is crossed geometrical relationship in the step 2 using image processing techniques and multisensor space.
Present invention utilizes the closely fried spatial positions of bullet and a kind of relevance for being ruined target relative position, establish target and ruin
Hurt calculation method.The 3 d space coordinate of shell burst image is obtained using multisensor measuring technology；Establish earth axes,
Missile coordinate system, target-based coordinate system, body and target relative velocity coordinate system, provide the missile target encounter based on shell burst position
Deflection and pitch angle；Using transition matrix, missile target encounter deflection and pitch angle are provided in the expression of each coordinate system, is changed
Miss distance and missed azimuth provide multiple missile target encounter postures and the missile target encounter space time correlation based on shell burst spatial position
Model；Finally, in conjunction with the kinematic parameter of fried rear Fragment Field, providing Fragment Field to mesh according to the space position parameter of shell burst
Target injures method for calculating probability.The present invention is based on the positions of the fried point in space, provide the mesh of the space bombing site of comparison image
Calculating execution method is marked, provides scientific basis for the calculating of novel target Damage.
Detailed description of the invention
Fig. 1 is the flow chart of the target Damage calculation method of the present invention based on fried space of points position；
Fig. 2 is the coordinate schematic diagram of the target Damage calculation method of the present invention based on fried space of points position；
Fig. 3 is the coordinate schematic diagram of the target Damage calculation method of the present invention based on fried space of points position
Specific embodiment
The present embodiment is related to a kind of target Damage calculation method based on fried space of points position, should be based on fried space of points position
Target Damage calculation method mainly the damage of target is assessed according to bombing site.
A kind of target Damage calculation method based on fried space of points position involved in the present embodiment, as shown in Figure 1, it is wrapped
Include following steps：
Step 1 (S1) is crossed measuring technology using multisensor, and the planar position for obtaining shell burst image is sat
Mark, wherein multisensor crosses measuring technology can be using method in the prior art, and details are not described herein；
Step 2 (S2), the geometrical relationship to be crossed using image processing techniques and multisensor space obtain shell burst figure
The spatial three-dimensional position coordinate of picture, wherein image processing techniques can utilize method in the prior art, and details are not described herein；
Step 3 (S3) establishes earth axes, missile coordinate system, target-based coordinate system, body and target relative velocity coordinate
System determines the deflection and pitch angle of the missile target encounter based on shell burst position；
Wherein, as shown in Fig. 2, Fig. 2 shows earth axes therein, target-based coordinate system and missile coordinate system, ground
Coordinate system is used to determine that the various trajectory parameters of warhead i.e. bullet and target, earth axes specifically use OXGYGZGIt indicates,
Origin is located at warhead launch point, OXGAxis with warhead emit when target flight horizontal course equality and take its opposite direction
It is positive, OYGAxis vertically upward, OZGAxis and OXG,OYGAxis constitutes right-handed coordinate system；Target-based coordinate system OXtYtZtOrigin be located at mesh
Target geometric center, OXtAxis is before target vertical axis, OYtAxis is positive upwards in target symmetrical plane, OZtAxis constitutes right
Hand coordinate system；Missile coordinate system OXmYmZmOrigin be located at warhead center, OXmAxis is positive before bullet vertical axis, OYmAxis takes
In symmetrical plane, it is positive upwards, OZmAxis constitutes right-handed coordinate system；In addition, relative velocity coordinate system OXrYrZrIt is Fuze warhead matching
The peculiar coordinate system used in research, as shown in figure 3, relative velocity coordinate system be used for describe bullet relative target miss distance and
Missed azimuth, fuze actuation parameter and warhead dynamic wounding parameter, wherein coordinate origin often takes the heart in the target, OXrAxis with
The relative velocity vector v of bullet and targetrIn parallel, with vrPositive direction be positive, OYrAxis takes in vertical plane, OZrAxis takes
In horizontal plane.
It should be noted that approach angle of the bullet relative to targetIt is target longitudinal axis OXtWith bullet mesh relative velocity VrOn the contrary
The angle in direction, for describing the deflection that, this parameter may also be referred to as play mesh cross of the bullet relative to target,
In, whenShi represents frontal attack, and bullet head-on meets with target；WhenEpoch table beam attack；When
When, bullet pursues and attacks target trailing；For pitching angle theta, bullet is represented as pitching angle theta > 0 relative to attacking from the bottom up
It hits, bullet is represented as θ < 0 relative to attacking from top to bottom；
Step 4 (S4), using transition matrix, obtain missile target encounter deflection and pitch angle each coordinate system expression
Formula is obtained by changing miss distance and missed azimuth with the multiple missile target encounter postures for following time changing；
Wherein, the step 4 is specifically implemented according to the following steps：
A. M is setX[γ] indicates to rotate the angle γ, M around X-axisY[δ] indicates to rotate the angle δ, M around Y-axisZ[χ] expression rotates χ about the z axis
Angle can convert body or any attitude of target then by transition matrix under four above-mentioned coordinate systems；
B. it defines bullet relative flight velocity vector and relative dynamic injures plane determined by axis, referred to as this time plays mesh and hand over
Can during ammunition injure plane, provide normal vector of the face of injuring in earth axes, missile target encounter attitude angle can be obtained and existed
It is expressed as in earth axes
Wherein emt(xg), emt(yg) and emt(zg) it is missile target encounter deflection in three change in coordinate axis direction of earth axes point
The unit vector of amount.In earth axes, nd(xg), nd(yg) and nd(zg) be Fragment Field act on target injure face normal direction
Amount.
Bullet line of sight unit vector in missile coordinate system is transformed into relative velocity coordinate system, is handed over so as to which mesh must be played
Meeting attitude angle is expressed as in relative velocity coordinate system
In relative velocity coordinate system, emt(yr) and emt(zr) it is missile target encounter deflection at relative velocity coordinate system three
The unit vector of change in coordinate axis direction component；nd(yr) and nd(zr) be Fragment Field act on target injure face normal vector.
C. (x is setm,ym,zm) it is space coordinate of the bullet in earth axes, (xt,yt,zt) it is target in ground coordinate
Space coordinate in system obtains and passes through arbitrary target points (xt,yt,zt) and linear equation along relative velocity vector direction, and ask
Miss distance ρ is out：
By arbitrary target points (xt,yt,zt) and relative velocity vector can determine straight line equation, s={ m, n, p }
For the direction vector of straight line.
It is available a plurality of by changing miss distance and missed azimuth angle when given miss distance and missed azimuth angle
It is parallel with initial trajectory, but the parallel trajectory with different miss distances and missed azimuth；
Step 5 (S5), the posture of posture and the final moment target of missile target encounter based on the fried point of missile target encounter initial time,
Obtain the missile target encounter space time correlation model based on shell burst spatial position；
Wherein, the step 5 is specifically implemented according to the following steps：
A. t is enabled0=0 initial time as missile target encounter process, the at this time position of bullet and target in earth axes
It sets respectivelyWith
b.θmWithFor t1Attitude angle possessed by moment, that is, warhead activation moment body, projectile flight speed vm?
Component in earth axes is：
Wherein vmx, vmyAnd vmzFor component of the projectile flight speed in earth axes.
C. in t1To t2Period in, target continue with vtIt moves, then t2Coordinate (the x that moment Fragment Group is hit targetd
(t2),yd(t2),zd(t2)) be：
Mx[γm1] it is to rotate γ about x-axism1The transformation matrix at angle,To be rotated about y-axisAngular transformation square
Battle array, Mz[θm1] it is to rotate θ about z-axism1Angle is transformation matrix；vdsFor t2The speed of moment Fragment Group.
D. to sum up, the missile target encounter space time correlation model based on space bombing site is provided, as follows：
This model describes the motion conditions of body, Fragment Group and target in earth axes, including missile target encounter is initial
The body at moment and target position, body and target flight velocity magnitude and direction injure the quiet explosion velocity degree of member and direction of dispersing, rise
Quick-fried moment body attitude etc.；
Step 6 (S6) is broken according to the space position parameter of shell burst in conjunction with the kinematic parameter of fried rear Fragment Field
Probability is injured to target by film studio；
Wherein, the calculation of the step 6 is specifically implemented according to the following steps：
A. for bullet in instant of detonation, fragment obtains higher initial velocity, and hits target at an angle, by dynamic
Target can be caused to injure, the statement of space Fragment Field can be averaged angle of dispersion Φ with fragmentation to describe, Φ=(Φ1+Φ2)/2。
Wherein, fragment is evenly distributed on Φ1And Φ2In the conical ring surrounded, dynamically disperse angle, φvrIt is expressed as：
It is quiet it is quick-fried under the conditions of, ΦrFor fragment emission angle, vf0For Initial Velocities of Fragments degree.It moves under quick-fried state, ΦvrDynamically to disperse
Angle, the Fragment Field initial velocity of generationFragmentation dynamic is dispersed speed vf1。
Under dynamic condition, the probability distributing density function f (Φ of the r pieces fragmentationvr) be：
Wherein, under dynamic condition, the root-mean-square deviation and mathematic expectaion of Fragment Field angle of dispersion are respectively σvrWith
B. the bombing site coordinate (x due to being obtained according to multisensor measuring technologyb,yb,zb), if one group of obedience is equal
Even distribution Discrete Stochastic number is (ξ1,ξ2), R is to fry the distance between point and target, then coordinate (the x that disperses of i-th piece of fragmenti,yi,
zi) can be determined by following formula：
According to fragmentation dynamic probability distribution density function f (Φ abovevr) and bulletfragment dynamic angle of dispersion Φvr, then make
Used in the distribution density ρ (Φ of the single Triangular patch of targetvr) be：
Wherein, (xi,yi) it is the fragmentation initial coordinate based on shell burst spatial position, (x0,y0) it is fragmentation in target
Position coordinate on a some Triangular patch of rapid wear bay section.
C. according to target vulnerability bay section, β is definediFor target rapid wear coefficient, single Triangular patch bulletfragment is to mesh
Mark the damage area S of face element contributiond, the area of i-th of rapid wear bay section is Si, the small face element of target is Sk, fragmentation is characterized with Q
Probability is injured to target,The angle of entry of target Triangular patch is fallen on for fragmentation, then calculation formula is as follows：
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (7)
1. a kind of target Damage calculation method based on fried space of points position comprising following steps：
Step 1, the planar position coordinates of shell burst image are obtained；
Step 2, the spatial three-dimensional position coordinate of shell burst image is obtained；
Step 3, earth axes, missile coordinate system, target-based coordinate system, body and target relative velocity coordinate system are established, is determined
The deflection and pitch angle of missile target encounter based on shell burst position；
Step 4, using transition matrix, the deflection and pitch angle for obtaining missile target encounter pass through in the expression formula of each coordinate system
Change miss distance and missed azimuth, obtains with the multiple missile target encounter postures for following time changing；
Step 5, the posture of posture and the final moment target of missile target encounter based on the fried point of missile target encounter initial time, is based on
The missile target encounter space time correlation model of shell burst spatial position；
Step 6, Fragment Field is obtained to mesh in conjunction with the kinematic parameter of fried rear Fragment Field according to the space position parameter of shell burst
Target injures probability.
2. the target Damage calculation method according to claim 1 based on fried space of points position, additional technical feature exist
In in the step 3, earth axes are used to determine the various trajectory parameters of warhead i.e. bullet and target, ground coordinate
System specifically uses OXGYGZGIt indicates, origin is located at warhead launch point, OXGAxis and the target flight when warhead emits are horizontal
Course equality simultaneously takes its opposite direction to be positive, OYGAxis vertically upward, OZGAxis and OXG,OYGAxis constitutes right-handed coordinate system；Coordinates of targets
It is OXtYtZtOrigin be located at the geometric center of target, OXtAxis is before target vertical axis, OYtAxis in target symmetrical plane,
It is positive upwards, OZtAxis constitutes right-handed coordinate system；Missile coordinate system OXmYmZmOrigin be located at warhead center, OXmAxis is along bullet
It is positive before vertical axis, OYmAxis takes in symmetrical plane, is positive upwards, OZmAxis constitutes right-handed coordinate system；Relative velocity coordinate system
OXrYrZrFor describing the miss distance and missed azimuth of bullet relative target, fuze actuation parameter and warhead dynamic killing ginseng
Number, wherein coordinate origin takes the heart in the target, OXrThe relative velocity vector v of axis and bullet and targetrIn parallel, with vrPros
To being positive, OYrAxis takes in vertical plane, OZrAxis takes in the horizontal plane；Wherein, the side that bullet crosses relative to the bullet mesh of target
To angleIt is target longitudinal axis OXtWith bullet mesh relative velocity VrThe angle of opposite direction, wherein whenShi represents frontal attack,
Bullet head-on meets with target；WhenEpoch table beam attack；WhenWhen, bullet pursues and attacks target trailing；For
For pitch angle, bullet is represented as pitching angle theta > 0 relative to attacking from the bottom up, represented as θ < 0 bullet relative to from
On attack down.
3. the target Damage calculation method according to claim 1 based on fried space of points position, additional technical feature exist
In the step 4 specifically includes following steps：
A. M is setX[γ] indicates to rotate the angle γ, M around X-axisY[δ] indicates to rotate the angle δ, M around Y-axisZ[χ] indicates to rotate the angle χ about the z axis, then
By transition matrix, body or any attitude of target can be converted under four above-mentioned coordinate systems；
B. it defines bullet relative flight velocity vector and relative dynamic injures plane determined by axis, referred to as the secondary missile target encounter mistake
Ammunition injures plane in journey, provides normal vector of the face of injuring in earth axes, can obtain missile target encounter attitude angle on ground
It is expressed as in coordinate system
Wherein emt(xg), emt(yg) and emt(zg) it is missile target encounter deflection in three change in coordinate axis direction components of earth axes
Unit vector；In earth axes, nd(xg), nd(yg) and nd(zg) be Fragment Field act on target injure face normal vector；
Bullet line of sight unit vector in missile coordinate system is transformed into relative velocity coordinate system, so as to obtain missile target encounter appearance
State angle is expressed as in relative velocity coordinate system
In relative velocity coordinate system, emt(yr) and emt(zr) it is missile target encounter deflection in three coordinates of relative velocity coordinate system
The unit vector of axis direction component；nd(yr) and nd(zr) be Fragment Field act on target injure face normal vector；
C. (x is setm,ym,zm) it is space coordinate of the bullet in earth axes, (xt,yt,zt) it is target in earth axes
Space coordinate, obtain pass through arbitrary target points (xt,yt,zt) and linear equation along relative velocity vector direction, and find out de-
Target amount ρ is：
By arbitrary target points (xt,yt,zt) and relative velocity vector can determine straight line equation, s={ m, n, p } is straight
The direction vector of line；
When given miss distance and missed azimuth angle, by changing miss distance and missed azimuth angle, it is available it is a plurality of with it is first
Beginning trajectory is parallel, but the parallel trajectory with different miss distances and missed azimuth.
4. the target Damage calculation method according to claim 1 based on fried space of points position, additional technical feature exist
In the step 5 includes the following steps：
A. t is enabled0=0 initial time as missile target encounter process, the position of bullet and target in earth axes is distinguished at this time
ForWith
b.θmWithFor t1Attitude angle possessed by moment, that is, warhead activation moment body, projectile flight speed vmOn ground
Component in coordinate system is：
Wherein vmx, vmyAnd vmzFor component of the projectile flight speed in earth axes；
C. in t1To t2Period in, target continue with vtIt moves, then t2Coordinate (the x that moment Fragment Group is hit targetd(t2),yd
(t2),zd(t2)) be：
Mx[γm1] it is to rotate γ about x-axism1The transformation matrix at angle,To be rotated about y-axisAngular transformation matrix, Mz
[θm1] it is to rotate θ about z-axism1Angle is transformation matrix；vdsFor t2The speed of moment Fragment Group；
D. the missile target encounter space time correlation model based on space bombing site is provided：
Wherein, the model describes the motion conditions of body, Fragment Group and target in earth axes, including at the beginning of missile target encounter
Begin the moment body and target position, body and target flight velocity magnitude and direction, injure the quiet explosion velocity degree of member and direction of dispersing,
Detonate moment body attitude.
5. the target Damage calculation method according to claim 1 based on fried space of points position, additional technical feature exist
In the step 6 comprises the following steps：
A. bullet is in instant of detonation, and fragment obtains higher initial velocity, and hits target at an angle, by kinetic energy pair
Target causes to injure, and the statement of space Fragment Field can be averaged angle of dispersion Φ with fragmentation to describe, Φ=(Φ1+Φ2)/2；Its
In, fragment is evenly distributed on Φ1And Φ2In the conical ring surrounded, dynamically disperse angle, φvrIt is expressed as：
It is quiet it is quick-fried under the conditions of, ΦrFor fragment emission angle, vf0For Initial Velocities of Fragments degree；It moves under quick-fried state, ΦvrFor angle of dynamically dispersing,
The Fragment Field initial velocity of generationFragmentation dynamic is dispersed speed vf1；
Under dynamic condition, the probability distributing density function f (Φ of the r pieces fragmentationvr) be：
Wherein, under dynamic condition, the root-mean-square deviation and mathematic expectaion of Fragment Field angle of dispersion are respectively σvrWith
B. the bombing site coordinate (x due to being obtained according to multisensor measuring technologyb,yb,zb), if one group of obedience is uniformly divided
Cloth Discrete Stochastic number is (ξ1,ξ2), R is to fry the distance between point and target, then coordinate (the x that disperses of i-th piece of fragmenti,yi,zi) can
It is determined by following formula：
According to fragmentation dynamic probability distribution density function f (Φ abovevr) and bulletfragment dynamic angle of dispersion Φvr, then act on
Distribution density ρ (the Φ of the single Triangular patch of targetvr) be：
Wherein, (xi,yi) it is the fragmentation initial coordinate based on shell burst spatial position, (x0,y0) for fragmentation, in target, some is easy
Damage the position coordinate on some Triangular patch of bay section；
C. according to target vulnerability bay section, β is definediFor target rapid wear coefficient, single Triangular patch bulletfragment is to target face element
The damage area S of contributiond, the area of i-th of rapid wear bay section is Si, the small face element of target is Sk, fragmentation is characterized to target with Q
Injure probability,The angle of entry of target Triangular patch is fallen on for fragmentation, then calculation formula is as follows：
6. the target Damage calculation method according to claim 1 based on fried space of points position, additional technical feature exist
In being crossed measuring technology in the step 1 using multisensor.
7. the target Damage calculation method according to claim 1 based on fried space of points position, additional technical feature exist
In being crossed geometrical relationship in the step 2 using image processing techniques and multisensor space.
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